时间相关噪声条件下的捷联惯导/星敏感器组合导航方法

SINS/Star Sensor integrated navigation method in the presence of time correlated noises

针对星敏感器测量信息含有时间相关测量噪声和振动环境下惯性传感器带来的时间相关系统噪声问题,在不增加滤波维数的基础上,提出了一种基于改进卡尔曼滤波的捷联惯导/星敏感器组合导航方法。分析了时间相关噪声对状态估计的影响,构建了基于时间相关噪声模型下的状态方程和量测方程,详细推导了改进卡尔曼滤波方程,给出了组合导航方法。利用仿真对所提方法进行了验证,仿真结果表明,组合导航方法取得了400 m/1200 s的导航精度;在时间相关噪声条件下,与标准卡尔曼滤波相比,基于改进卡尔曼滤波的组合导航方法定位精度提高了50 m,是有效可行的。

To solve the problem that the measurement noise provided by star sensor and the system noise provided by inertial sensor under vibrant environment are time correlated,a novel modified Kalman filter based strapdown inertial navigation system/star sensor integrated navigation method is proposed without increasing state dimensions.The effect of time correlated noise is analyzed,and the time correlated noise model is built.The state equations and measurement equations based on the time correlated noise model are constructed.The modified Kalman filter equation is derived.Simulations are made which show that,the navigation precision reaches 400 m/1200 s by the integration navigation method,and compared with the standard Kalman filter,the positioning precision is improved 50 m by the proposed method in the presence of time correlated noise.